/*
 * DriveSystem.h
 *
 *  Created on: Jan 5, 2011
 *      Author: Robotics
 */

#ifndef DRIVESYSTEM_H_
#define DRIVESYSTEM_H_

#include "KHSJoystick.h"

#include "GearBox.h"
#include "Gyro.h"
#include "Gamepad.h"
//#include "AutonomousSystem.h"

class DriveSystem {
public:
	DriveSystem();
	virtual ~DriveSystem();

	void drive(float l, float r);
	void drive(Gamepad* ptr_driverControl);
	void driveStraight(int dist);
	void turn(int theta);
//	void drive(AutonomousSystem*);
	double getEncoderValue(bool);
	double getAverageLREncoderValue();
	GearBox* getGearboxPtr(bool);
	

private:
	GearBox *mptr_leftGearbox;
	GearBox *mptr_rightGearbox;

};

#endif /* DRIVESYSTEM_H_ */
